Robot Dynamic Model Identification Through Excitation Trajectories Minimizing the Correlation Influence among Essential Parameters (Contributo in atti di convegno)

Type

• Contributo in atti di convegno (Classe)
• Prodotto della ricerca (Classe)

Label

• Robot Dynamic Model Identification Through Excitation Trajectories Minimizing the Correlation Influence among Essential Parameters (Contributo in atti di convegno) (literal)

Anno

• 2014-01-01T00:00:00+01:00 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#doi

• 10.5220/0005060704750482 (literal)

Alternative label

• Villagrossi, E. and Legnani, G. and Pedrocchi, N. and Vicentini, F. and Molinari Tosatti, L. and Abbà, F. and Bottero, A. (2014)
  Robot Dynamic Model Identification Through Excitation Trajectories Minimizing the Correlation Influence among Essential Parameters
  in 11th International Conference on Informatics in Control, Automation and Robotics, Vien, Ausria, September 1st - 3rd
  (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#autori

• Villagrossi, E. and Legnani, G. and Pedrocchi, N. and Vicentini, F. and Molinari Tosatti, L. and Abbà, F. and Bottero, A. (literal)

Pagina inizio

• 475 (literal)

Pagina fine

• 482 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#url

• http://www.scitepress.org/DigitalLibrary/Link.aspx?doi=10.5220/0005060704750482 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#titoloVolume

• Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics (literal)

Note

• Scopu (literal)
• Google Scholar (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#affiliazioni

• Villagrossi, Enrico1 and Legnani, Giovanni2 and Pedrocchi, Nicola1 and Vicentini, Federico1 and Molinari Tosatti, Lorenzo1 and Abbà, Fabio3 and Bottero, Aldo3 1 Consiglio Nazionale delle Ricerche, Istituo di Tecnologie Industriali ed Automazione 2 UNiversità degli Studi di Brescia 3 COMAU Robotics (literal)

Titolo

• Robot Dynamic Model Identification Through Excitation Trajectories Minimizing the Correlation Influence among Essential Parameters (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#isbn

• 978-989-758-039-0 (literal)

Abstract

• Robot dynamics is commonly modeled as a linear function of the robot kinematic state from a set of dynamic parameters into motor torques. Base parameters (i.e. the set of theoretically demonstrated linearly-independent parameters) can be reduced to a subset of \"essential\" parameters by eliminating those that are negligible with respect to their contribution in motor torques. However, generic trajectories, if not properly defined, couple the contribution of such essential parameters into the motor torques, actually reducing the estimation accuracy of the dynamics parameters. The work presented here introduces an index for evaluating correlation influence among essential parameters along an executed trajectory. Such index is then exploited for an optimal search of excitatory patterns consistent with the kinematical coupling constraints. The method is experimentally compared with the results achievable by one of the most popular IRs dynamic calibration method. (literal)

Prodotto di

• Macchine, robot e servizi innovativi customer oriented (SP.P03.004.001) (Modulo)

Autore CNR

• LORENZO MOLINARI TOSATTI (Persona)
• FEDERICO VICENTINI (Unità di personale interno)
• NICOLA PEDROCCHI (Persona)

Insieme di parole chiave

• Parole chiave di "Robot Dynamic Model Identification Through Excitation Trajectories Minimizing the Correlation Influence among Essential Parameters" (Insieme di parole chiave)

Incoming links:

Autore CNR di

• LORENZO MOLINARI TOSATTI (Persona)
• NICOLA PEDROCCHI (Persona)
• FEDERICO VICENTINI (Unità di personale interno)
• http://www.cnr.it/ontology/cnr/individuo/unitaDiPersonaleEsterno/ID24711

Prodotto

• Macchine, robot e servizi innovativi customer oriented (SP.P03.004.001) (Modulo)

Insieme di parole chiave di

• Parole chiave di "Robot Dynamic Model Identification Through Excitation Trajectories Minimizing the Correlation Influence among Essential Parameters" (Insieme di parole chiave)